JP7151678B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP7151678B2 JP7151678B2 JP2019173071A JP2019173071A JP7151678B2 JP 7151678 B2 JP7151678 B2 JP 7151678B2 JP 2019173071 A JP2019173071 A JP 2019173071A JP 2019173071 A JP2019173071 A JP 2019173071A JP 7151678 B2 JP7151678 B2 JP 7151678B2
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- 238000001514 detection method Methods 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000004048 modification Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 6
- 230000009467 reduction Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/02—Vehicle mass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
図1は、本実施形態に係る車両Tの概要を説明するための図である。図1においては、商用車である車両Tが、先行車両Vの後方を走行している状態を示している。車両Tは、ACC(Adaptive Cruise Control)機能を有しており、先行車両Vの速度に追従して自車両の速度を制御しながら走行する。
以下、車両Tの構成及び動作について詳細に説明する。
図2は、車両Tの構成を示す図である。車両Tは、車両制御装置1と、速度センサ2と、周辺センサ3と、ブレーキ4とを有する。
記憶部11は、ROM(Read Only Memory)及びRAM(Random Access Memory)等の記憶媒体を有する。記憶部11は、例えば制御部12が実行するプログラムを記憶している。記憶部11は、速度センサ2及び周辺センサ3から入力された各種のデータを一時的に記憶してもよい。
図4は、第1変形例に係る車両制御装置1aの構成を示す図である。車両制御装置1aは、ジャイロセンサ5と勾配特定部125をさらに有する点で図2に示した車両制御装置1と異なり、他の点で同じである。
図5は、第2変形例に係る車両制御装置1bの構成を示す図である。車両制御装置1bは、重量センサ6と重量特定部126をさらに有する点で図2に示した車両制御装置1と異なり、他の点で同じである。
閾値決定部124は、第2変形例で説明した路面の勾配、及び第3変形例で説明した車両Tの重量の両方に基づいて閾値を決定してもよい。この場合、例えば記憶部11が、車両Tの減速度、路面の勾配、及び車両Tの重量の複数の組合せのそれぞれに対応する閾値を含むルックアップテーブルを記憶しておき、閾値決定部124は当該ルックアップテーブルを参照することにより閾値を決定してもよい。閾値決定部124がこのように複数の要素に基づいて閾値を決定することで、車両T及び車両Tの周辺の状況によらず揺り戻しを抑制することができる。
上記の説明では、閾値決定部124が、車両Tが停車する予定であることを停車予定特定部122が特定した後に、速度センサ2が検出した車両Tの車速が所定の速度になった時点での減速度に基づいて閾値を決定する場合を例示したが、閾値決定部124が閾値を決定する方法はこれに限らない。
2 速度センサ
3 周辺センサ
4 ブレーキ
5 ジャイロセンサ
6 重量センサ
11 記憶部
12 制御部
121 減速度検出部
122 停車予定特定部
123 ブレーキ制御部
124 閾値決定部
125 勾配特定部
126 重量特定部
Claims (3)
- 車両が走行中の道路の勾配を特定する勾配特定部と、
前記車両の減速度を検出する減速度検出部と、
前記車両が停車する予定であることを特定する停車予定特定部と、
前記車両の車速が閾値以下になった時点でブレーキ圧の低減を開始するブレーキ制御部と、
前記勾配特定部が特定した前記勾配に基づいて、前記車両が停車する予定であることを前記停車予定特定部が特定した後に前記減速度検出部が検出した減速度が大きいほど前記閾値が大きくなるように前記閾値を決定する閾値決定部と、
を有する車両制御装置。 - 前記閾値決定部は、前記勾配が上り勾配である場合の前記閾値を、前記勾配が下り勾配である場合の前記閾値よりも大きくする、
請求項1に記載の車両制御装置。 - 車両の重量を特定する重量特定部と、
前記車両の減速度を検出する減速度検出部と、
前記車両が停車する予定であることを特定する停車予定特定部と、
前記車両の車速が閾値以下になった時点でブレーキ圧の低減を開始するブレーキ制御部と、
前記重量特定部が特定した前記重量に基づいて、前記車両が停車する予定であることを前記停車予定特定部が特定した後に前記減速度検出部が検出した減速度が大きいほど前記閾値が大きくなるように前記閾値を決定する閾値決定部と、
を有する車両制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019173071A JP7151678B2 (ja) | 2019-09-24 | 2019-09-24 | 車両制御装置 |
PCT/JP2020/035441 WO2021060184A1 (ja) | 2019-09-24 | 2020-09-18 | 車両制御装置 |
CN202080067475.6A CN114450205B (zh) | 2019-09-24 | 2020-09-18 | 车辆控制装置 |
DE112020004502.1T DE112020004502T5 (de) | 2019-09-24 | 2020-09-18 | Fahrzeugsteuervorrichtung |
US17/763,148 US20220348200A1 (en) | 2019-09-24 | 2020-09-18 | Vehicle control device |
Applications Claiming Priority (1)
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JP2019173071A JP7151678B2 (ja) | 2019-09-24 | 2019-09-24 | 車両制御装置 |
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Publication Number | Publication Date |
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JP2021049833A JP2021049833A (ja) | 2021-04-01 |
JP7151678B2 true JP7151678B2 (ja) | 2022-10-12 |
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JP2019173071A Active JP7151678B2 (ja) | 2019-09-24 | 2019-09-24 | 車両制御装置 |
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US (1) | US20220348200A1 (ja) |
JP (1) | JP7151678B2 (ja) |
CN (1) | CN114450205B (ja) |
DE (1) | DE112020004502T5 (ja) |
WO (1) | WO2021060184A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004161472A (ja) | 2002-11-15 | 2004-06-10 | Nippon Yusoki Co Ltd | リーチ型フォークリフトのブレーキ装置 |
JP2007038794A (ja) | 2005-08-02 | 2007-02-15 | Advics:Kk | 車両用ブレーキ制御装置 |
JP4793105B2 (ja) | 2006-06-02 | 2011-10-12 | 株式会社アドヴィックス | 車両用ブレーキ制御装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3817892B2 (ja) | 1998-03-11 | 2006-09-06 | 日産自動車株式会社 | 車両用走行制御装置 |
US20150175140A1 (en) * | 2012-07-26 | 2015-06-25 | Toyota Jidosha Kabushiki Kaisha | Braking/driving force control device |
US9758168B2 (en) * | 2012-11-02 | 2017-09-12 | Bosch Corporation | Idling stop device |
JP2016088146A (ja) * | 2014-10-30 | 2016-05-23 | ダイハツ工業株式会社 | 車両用ブレーキ制御装置 |
JP2019173071A (ja) | 2018-03-27 | 2019-10-10 | 国立研究開発法人日本原子力研究開発機構 | モリブデン及び/又はジルコニウムの分離回収方法 |
-
2019
- 2019-09-24 JP JP2019173071A patent/JP7151678B2/ja active Active
-
2020
- 2020-09-18 DE DE112020004502.1T patent/DE112020004502T5/de active Pending
- 2020-09-18 WO PCT/JP2020/035441 patent/WO2021060184A1/ja active Application Filing
- 2020-09-18 CN CN202080067475.6A patent/CN114450205B/zh active Active
- 2020-09-18 US US17/763,148 patent/US20220348200A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004161472A (ja) | 2002-11-15 | 2004-06-10 | Nippon Yusoki Co Ltd | リーチ型フォークリフトのブレーキ装置 |
JP2007038794A (ja) | 2005-08-02 | 2007-02-15 | Advics:Kk | 車両用ブレーキ制御装置 |
JP4793105B2 (ja) | 2006-06-02 | 2011-10-12 | 株式会社アドヴィックス | 車両用ブレーキ制御装置 |
Also Published As
Publication number | Publication date |
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US20220348200A1 (en) | 2022-11-03 |
CN114450205B (zh) | 2024-04-05 |
CN114450205A (zh) | 2022-05-06 |
DE112020004502T5 (de) | 2022-07-07 |
JP2021049833A (ja) | 2021-04-01 |
WO2021060184A1 (ja) | 2021-04-01 |
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